WO2023155823A1

WO2023155823A1 - Uwb-based motion trajectory identification method and electronic device

Info

Publication number: WO2023155823A1
Application number: PCT/CN2023/076336
Authority: WO
Inventors: 崔献; 许海坤
Original assignee: 维沃移动通信有限公司
Priority date: 2022-02-16
Filing date: 2023-02-16
Publication date: 2023-08-24
Also published as: CN114527456A

Abstract

Provided are a UWB-based motion trajectory identification method and apparatus. The method comprises: by means of a UWB antenna, acquiring a first angle of a first device, a second angle thereof and a first distance thereof (201); and according to the first angle, the second angle and the first distance, determining real-time coordinate information of the first device, and on the basis of the real-time coordinate information, generating a motion trajectory of the first device within a preset period of time (202), wherein the first angle is an included angle formed between a first line segment and a first coordinate axis in a target coordinate system, and the second angle is an included angle formed between the first line segment and a second coordinate axis, which first line segment is the line segment between the first device and the origin of coordinates of the target coordinate system, and which first distance is the length of the first line segment. Further provided are an electronic device, a readable storage medium, a chip and a computer program product.

Description

UWB-based motion trajectory recognition method and electronic equipment

Cross References to Related Applications

This application claims the priority of the Chinese patent application with the application number 202210141692.6 filed on February 16, 2022, and the title of the invention is "UWB-based motion trajectory recognition method and electronic equipment", which is fully incorporated into this application by reference.

technical field

The present application belongs to the technical field of communication, and in particular relates to a UWB-based motion trajectory identification method and electronic equipment.

Background technique

Trajectory recognition technology can be applied in many fields. In related technologies, the trajectory of a moving object can be determined through the spatial motion trajectory recognition technology based on multi-sensor fusion technology.

However, the principle of trajectory recognition technology in the related art to obtain the motion trajectory is obtained by integrating the acceleration. According to the integration principle, there will be a problem of cumulative error, and the error of the motion trajectory will increase with time. Therefore, , the accuracy of the motion trajectory obtained in the related art is low.

Contents of the invention

The purpose of the embodiments of the present application is to provide a UWB-based motion trajectory recognition method and electronic equipment, which can solve the problem of low accuracy of the acquired motion trajectory.

In the first aspect, the embodiment of the present application provides a UWB-based motion trajectory identification method, the method includes: obtaining the first angle, the second angle and the first distance of the first device through the UWB antenna; , the second angle and the first distance determine the real-time coordinate information of the first device, and generate a motion track of the first device within a preset time period based on the real-time coordinate information; wherein, the The first angle is formed by the first line segment in the target coordinate system and the first coordinate axis , the second angle is the angle formed by the first line segment and the second coordinate axis, and the first line segment is the distance between the first device and the coordinate origin of the target coordinate system A line segment, the first distance is the length of the first line segment.

In the second aspect, the embodiment of the present application provides a UWB-based motion trajectory identification device, including: an acquisition module and a processing module; the acquisition module is used to acquire the first angle and the second angle of the first device through the UWB antenna and the first distance; the processing module is configured to determine the real-time coordinate information of the first device according to the first angle, the second angle and the first distance, and generate the real-time coordinate information based on the real-time coordinate information The movement trajectory of the first device within a preset time period; wherein, the first angle is the angle formed by the first line segment in the target coordinate system and the first coordinate axis, and the second angle is the angle formed by the first The angle formed by the line segment and the second coordinate axis, the first line segment is the line segment between the first device and the coordinate origin of the target coordinate system, and the first distance is the first line segment length.

In the third aspect, the embodiment of the present application provides an electronic device, the electronic device includes a processor and a memory, the memory stores programs or instructions that can run on the processor, and the programs or instructions are processed by the The steps of the method described in the first aspect are realized when the controller is executed.

In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or an instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented .

In the fifth aspect, the embodiment of the present application provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions, so as to implement the first aspect the method described.

In a sixth aspect, an embodiment of the present application provides a computer program product, the program product is stored in a storage medium, and the program product is executed by at least one processor to implement the method described in the first aspect.

In the embodiment of the present application, the first angle, the second angle and the first distance of the first device can be obtained through the UWB antenna; the first angle is determined according to the first angle, the second angle and the first distance Real-time coordinate information of a device, and generating the first device based on the real-time coordinate information Motion trajectory within a preset time period; wherein, the first angle is the angle formed between the first line segment and the first coordinate axis in the target coordinate system, and the second angle is the angle between the first line segment and the first coordinate axis An included angle formed by two coordinate axes, the first line segment is a line segment between the first device and the coordinate origin of the target coordinate system, and the first distance is the length of the first line segment. Through this scheme, since the real-time coordinate information of the first device can be determined according to the first angle, the second angle, and the first distance, there is no accumulation of the motion track of the first device generated based on the real-time coordinate information within the preset time period The error can meet the user's demand for the accuracy of the motion trajectory.

Description of drawings

FIG. 1 is a schematic diagram of a UWB-based motion trajectory recognition system provided in an embodiment of the present application;

Fig. 2 is one of the schematic flow charts of the UWB-based motion trajectory identification method provided by the embodiment of the present application;

3 is a schematic diagram of the first angle, the second angle and the first distance in the target coordinate system of the UWB-based motion trajectory recognition method provided by the embodiment of the present application;

Fig. 4 is the second schematic flow diagram of the UWB-based motion trajectory identification method provided by the embodiment of the present application;

5 is a schematic diagram of the third angle and the fourth angle in the target coordinate system of the UWB-based motion trajectory recognition method provided by the embodiment of the present application;

Fig. 6 is a schematic diagram of a preset canvas provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a UWB-based motion trajectory recognition device provided in an embodiment of the present application;

FIG. 8 is one of the hardware schematic diagrams of the electronic device provided by the embodiment of the present application;

FIG. 9 is a second schematic diagram of hardware of the electronic device provided by the embodiment of the present application.

Detailed ways

The following will clearly describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of them. Based on the examples in this application, all other implementations obtained by those of ordinary skill in the art For example, all belong to the protection scope of this application.

The terms "first", "second" and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It should be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application can be practiced in sequences other than those illustrated or described herein, and that references to "first," "second," etc. distinguish Objects are generally of one type, and the number of objects is not limited. For example, there may be one or more first objects. In addition, "and/or" in the specification and claims means at least one of the connected objects, and the character "/" generally means that the related objects are an "or" relationship.

The UWB-based motion trajectory recognition method provided by the embodiment of the present application will be described in detail below through specific embodiments and application scenarios with reference to the accompanying drawings.

The UWB-based motion trajectory recognition method provided in the embodiment of the present application can be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the UWB-based motion trajectory recognition method. The electronic device mentioned in the embodiment of the application Devices include but are not limited to mobile phones, tablet computers, computers, cameras, wearable devices, smart door locks, etc. The following uses electronic devices as the execution subject to illustrate the UWB-based motion trajectory recognition method provided by the embodiment of the present application.

As shown in Figure 1, the embodiment of the present application provides a UWB-based motion trajectory recognition system, including an electronic device 101 and a first device 102, wherein the electronic device 101 may include at least two pairs of orthogonally arranged super A broadband (Ultra Wide-Band, UWB) antenna pair, that is, a first antenna pair and a second antenna pair, the first antenna pair includes antenna 1 and antenna 2, and the second antenna pair includes antenna 1 and antenna 3, the first antenna pair The pair of antennas and the second antenna may be used to measure the relative horizontal orientation and the relative vertical orientation of the first device, respectively. The first device 102 includes a transmitting device matched with the UWB antenna pair, and the first device 102 can send positioning signals to the UWB antenna pair through the transmitting device. Correspondingly, the antenna 1, the antenna 2 and the antenna 3 in the electronic device 101 can respectively receive the location signal.

As shown in FIG. 2, the embodiment of the present application provides a UWB-based motion trajectory recognition method, which is applied to the electronic device 101 in the above-mentioned UWB-based motion trajectory recognition system. The method may include steps 201-202:

Step 201, obtain the first angle, the second angle and the first distance of the first device through the UWB antenna Leave.

Wherein, the first angle is the angle formed by the first line segment in the target coordinate system and the first coordinate axis, the second angle is the angle formed by the first line segment and the second coordinate axis, and the The first line segment is a line segment between the first device and the coordinate origin of the target coordinate system, and the first distance is a length of the first line segment. For example, the first coordinate axis may be the horizontal axis in the target coordinate system, and the second coordinate axis may be the vertical axis in the target coordinate system.

Optionally, as shown in FIG. 3, after the UWB antenna in the electronic device 101 receives the positioning signal sent by the first device 102, the electronic device 101 may establish a target coordinate system with the position of the electronic device 101 as the coordinate origin, and Determine the first angle θ and the second angle based on the signal arrival phase difference (Phase Difference of Arrival, PDOA) angle measurement algorithm The first distance r is determined based on a ToF ranging algorithm.

Optionally, before obtaining the first angle, the second angle, and the first distance of the first device, the electronic device may first obtain the third angle and the fourth angle of the first device in real time through the UWB antenna, and the third angle is the angle formed between the first device and the normal of the first coordinate axis, and the fourth angle is the angle formed between the first device and the normal of the second coordinate axis included angle; when the third angle or the fourth angle is not within the preset angle range, the electronic device may determine the motion trajectory of the first device through an integral operation of the acceleration of the first device ; When both the third angle and the fourth angle are within the preset angle range, the electronic device can obtain the first angle, the second angle and the first distance of the first device through the UWB antenna .

Specifically, as shown in Figure 4, the electronic device can first measure the distance and angle through the UWB antenna, and then obtain the third angle a and the fourth angle b measured by the UWB antenna, and then judge whether the third angle a and the fourth angle b are Within the preset angle range, if the third angle a or the fourth angle b is not within the preset angle range, the motion trajectory of the first device is determined by integral calculation of the acceleration of the first device, that is, using The space trajectory recognition technology based on multi-sensor fusion technology in the related art determines the trajectory of the moving object; if the third angle a and the fourth angle b are both within the preset angle range, then the first angle measured by the UWB antenna is obtained. The device's first angle, second angle, and first distance. Afterwards, the electronics can reacquire the new third and fourth angles and perform a new round of judgment.

Exemplarily, as shown in FIG. 5 , the first coordinate axis is an x-axis and the second coordinate axis is a y-axis as an example. The third angle is the angle a formed between the first device 102 and the normal line f1 of the x-axis, and the fourth angle is the angle a formed between the first device 102 and the normal line f2 of the y-axis b. Wherein, the above-mentioned normal line f1 refers to a line located in the first plane composed of antenna 1, antenna 2 and the first device 102 and perpendicular to the x-axis; The device 102 is composed of a line in the second plane and perpendicular to the y-axis. During the continuous movement of the first device 102, the positions of the normal f1 and the normal f2 will also change accordingly.

It should be noted that when the third angle and the fourth angle are within the preset angle range, the accuracy of the motion track of the first device determined by the electronic device according to the first angle, the second angle and the first distance is relatively high, while When the third angle or the fourth angle is not within the preset angle range, the accuracy of the motion trajectory of the first device determined by the electronic device according to the first angle, the second angle and the first distance is low, therefore, the In the case where the accuracy of the movement track determined by the first angle, the second angle and the first distance is low, the movement track of the first device may be determined by integral operation of the acceleration of the first device.

Optionally, the aforementioned preset angle range may be (-60°, 60°).

Based on the above solution, since the third angle or the fourth angle is not within the preset angle range, that is, when the accuracy of the movement track of the first device determined according to the first angle, the second angle and the first distance is low , the trajectory of the first device can be determined by integral calculation of the acceleration of the first device; when the third angle and the fourth angle are within the preset angle range, that is, determined according to the first angle, the second angle and the first distance When the accuracy of the motion trajectory of the first device is high, the motion trajectory of the first device can be determined according to the first angle, the second angle, and the first distance. Therefore, the accuracy of the motion trajectory obtained in two ways Higher than the accuracy of the motion trajectory obtained by any of the methods.

Step 202: Determine the real-time coordinate information of the first device according to the first angle, the second angle and the first distance, and generate a movement track of the first device within a preset time period based on the real-time coordinate information.

Optionally, the electronic device determines the first device according to the first angle, the second angle and the first distance The real-time coordinate information can specifically include: according to x=r*cosθ, Determine the real-time coordinate information (x, y, z) of the first device; wherein, r is the first distance, θ is the first angle, for the second angle.

Optionally, the movement trajectory of the first device within a preset time period may be expressed as That is, the starting point of the trajectory obtained from the trigger electronic device is recorded as 0, and the number of recorded coordinate points is N.

It should be noted that in practical applications, in order to facilitate the subsequent trajectory comparison, it is necessary to map the motion trajectory of the three-dimensional space to the two-dimensional preset canvas range, as shown in Figure 6, to form x-axis and y-axis Take the plane coordinate system of , the coordinate origin of the plane coordinate system is the upper left corner of the preset canvas range, and the length and width of the preset canvas range are M as an example. In one case, if the movement track of the first device does not exceed the size of the preset canvas range, the coordinates of the real-time coordinate information (x, y, z) of the first device mapped to the preset canvas range are In another case, if the movement track of the first device exceeds the size of the preset canvas range, the real-time coordinate information (x, y, z) of the first device is mapped to the coordinates of the preset canvas range as Wherein, the value of L is max(|x _i |, |y _i |). That is, according to The ratio of the motion trajectory is reduced.

Based on the above solution, since the real-time coordinate information (x, y, z) of the first device can be determined, the motion track of the first device can be generated based on the real-time coordinate information (x, y, z).

Optionally, in the case that the first device is a wearable device, the electronic device may be used to detect whether the motion action of the user wearing the first device meets a standard. Specifically, after the electronic device generates the motion trajectory of the first device within a preset time period based on the real-time coordinate information, it can compare the motion trajectory with the preset motion map trajectory to obtain a comparison result; and output the user's Action adjustment suggestion information.

Based on the above scheme, since the obtained motion trajectory can be compared with the preset motion map trajectory, the user's action adjustment suggestion information can be output. Therefore, the user can determine his own deficiencies according to the action adjustment suggestion information, thereby helping the user to regulate his own movement. action.

Optionally, when the electronic device is a smart door lock and the first device is a handheld unlocking device, After the electronic device generates the motion track of the first device within a preset period of time based on the real-time coordinate information, it can obtain the second distance from the first device and the device height of the first device; And when the height of the device meets the corresponding preset condition range, output unlocking success information and perform the unlocking operation; there is at least one of the motion track, the second distance, and the height of the device that does not meet the corresponding preset condition. When the condition range is set, the unlock failure information is output, and the unlock failure information includes the reason for the unlock failure.

Exemplarily, the range of preset conditions corresponding to the motion trajectory is greater than 80% of the trajectory matching degree, and the range of preset conditions corresponding to the second distance is within the range of (1m, 1.5m) and corresponds to the height of the equipment. Let the condition range be within the range of (1.6m, 1.7m) as an example. If the motion track generated by the electronic device based on the real-time coordinate information matches the preset track at 85%, the second distance detected by the electronic device is 1.2m, and the device height of the first device is 1.8m, then Since the device height of the first device is not within the range of (1.6m, 1.7m), it means that the unlocker is taller than the original user, and the unlocker may be an illegal unlocker, so the electronic device can output unlock failure information. Based on the above scheme, the motion track, the second distance, and the height of the device can be used as factors for determining whether to unlock the lock. Since the condition for determining unlocking is that the motion track, the second distance, and the height of the device all meet the corresponding preset condition range, it can be improved. The security of the smart door lock prevents malicious opening of the smart door lock when the first device is held by an unauthorized person.

In the embodiment of the present application, since the real-time coordinate information of the first device can be determined according to the first angle, the second angle and the first distance, the movement track of the first device generated based on the real-time coordinate information within the preset time period There is no cumulative error, which can meet the user's demand for the accuracy of the motion trajectory.

The UWB-based motion trajectory recognition method provided in the embodiment of the present application may be executed by a UWB-based motion trajectory recognition device. In the embodiment of the present application, the UWB-based motion trajectory recognition device is used as an example to illustrate the UWB-based motion trajectory recognition device provided in the embodiment of the present application.

As shown in FIG. 7 , the embodiment of the present application also provides a UWB-based motion trajectory recognition device 700, including: an acquisition module 701 and a processing module 702; the acquisition module 701 is used to An antenna acquires a first angle, a second angle, and a first distance of the first device; the processing module 702 is configured to determine the first device according to the first angle, the second angle, and the first distance real-time coordinate information, and based on the real-time coordinate information to generate the motion trajectory of the first device within a preset time period; wherein, the first angle is formed by the first line segment in the target coordinate system and the first coordinate axis , the second angle is the angle formed by the first line segment and the second coordinate axis, and the first line segment is the distance between the first device and the coordinate origin of the target coordinate system A line segment, the first distance is the length of the first line segment.

Optionally, the acquisition module 701 is further configured to acquire a third angle and a fourth angle of the first device in real time through the UWB antenna, the third angle being the distance between the first device and the first device. The included angle formed between the normal lines of the coordinate axes, the fourth angle is the included angle formed between the first device and the normal lines of the second coordinate axes; the processing module 702 also uses In the case that the third angle or the fourth angle is not within the preset angle range, determine the motion trajectory of the first device through an integral operation of the acceleration of the first device; the acquisition module 701. Specifically, when the third angle and the fourth angle are both within the preset angle range, obtain the first angle, the second angle, and the first angle of the first device through the UWB antenna. distance.

Optionally, the processing module 702 is specifically configured to: according to x=r*cosθ, Determine the real-time coordinate information (x, y, z) of the first device; wherein, r is the first distance, θ is the first angle, is the second angle.

Optionally, continuing to refer to FIG. 7 , the apparatus 700 may further include an output module 703 . In the case that the first device is a wearable device, the processing module 702 is further configured to compare the motion trajectory with a preset motion graph trajectory to obtain a comparison result; the output module 703 is configured to As a result of the comparison, the user's action adjustment suggestion information is output.

Optionally, the obtaining module 701 is also used to obtain the second distance from the first device and the device height of the first device; the output module 703 is also used to When the trajectory, the second distance, and the height of the device all meet the corresponding preset condition range, the unlocking success information is output; the processing module 702 is also used to perform the unlocking operation; the output module 703 is also used to If there is at least one difference between the motion trajectory, the second distance and the equipment height When the corresponding range of preset conditions is satisfied, unlock failure information is output, and the unlock failure information includes a reason for the unlock failure.

The UWB-based motion trajectory recognition apparatus in the embodiment of the present application may be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal, or other devices other than the terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a notebook computer, a handheld computer, a vehicle electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR)/virtual reality (virtual reality, VR) ) equipment, robots, wearable devices, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook or personal digital assistant (personal digital assistant, PDA), etc., can also serve as server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (television, TV), teller machine, or self-service machine, etc., which are not specifically limited in this embodiment of the present application.

The UWB-based motion trajectory recognition device in the embodiment of the present application may be a device with an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in this embodiment of the present application.

The UWB-based motion trajectory recognition device provided in the embodiment of the present application can realize various processes realized by the method embodiments in FIG. 1 to FIG. 6 , and details are not repeated here to avoid repetition.

Optionally, as shown in FIG. 8 , the embodiment of the present application also provides an electronic device 800, including a processor 801 and a memory 802, and the memory 802 stores programs or instructions that can run on the processor 801. The When the program or instruction is executed by the processor 801, the steps of the above-mentioned embodiment of the UWB-based motion trajectory recognition method can be realized, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.

It should be noted that the electronic device in the embodiment of the present application includes the above-mentioned mobile electronic device devices and non-mobile electronic devices.

FIG. 9 is a schematic diagram of a hardware structure of an electronic device implementing an embodiment of the present application.

The electronic device 1000 includes, but is not limited to: a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, and a processor 1010, etc. part.

Those skilled in the art can understand that the electronic device 1000 can also include a power supply (such as a battery) for supplying power to various components, and the power supply can be logically connected to the processor 1010 through the power management system, so that the management of charging, discharging, and function can be realized through the power management system. Consumption management and other functions. The structure of the electronic device shown in FIG. 9 does not constitute a limitation to the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine some components, or arrange different components, which will not be repeated here. .

It should be noted that the radio frequency unit 1001 may include a UWB radio frequency chip channel and an antenna.

Wherein, the processor 1010 is configured to obtain the first angle, the second angle and the first distance of the first device through the UWB antenna;

The processor 1010 is further configured to determine the real-time coordinate information of the first device according to the first angle, the second angle and the first distance, and generate the real-time coordinate information of the first device based on the real-time coordinate information. The motion trajectory within a preset time period; wherein, the first angle is the angle formed between the first line segment and the first coordinate axis in the target coordinate system, and the second angle is the angle between the first line segment and the second The included angle formed by the coordinate axes, the first line segment is a line segment between the first device and the coordinate origin of the target coordinate system, and the first distance is the length of the first line segment.

Optionally, the processor 1010 is further configured to obtain a third angle and a fourth angle of the first device in real time through the UWB antenna, where the third angle is the distance between the first device and the first coordinate axis The included angle formed between the normals of , the fourth angle is the first device and the second coordinate axis The angle formed between the normals of .

The processor 1010 is further configured to determine the motion of the first device by integral calculation of the acceleration of the first device when the third angle or the fourth angle is not within a preset angle range track.

The processor 1010 is specifically configured to acquire the first angle, the second angle and the first angle of the first device through the UWB antenna when the third angle and the fourth angle are both within the preset angle range. first distance.

In the embodiment of the present application, since the third angle or the fourth angle is not within the preset angle range, that is, the accuracy of the movement track of the first device determined according to the first angle, the second angle and the first distance is low In the case of , the trajectory of the first device can be determined by integral calculation of the acceleration of the first device; when the third angle and the fourth angle are within the preset angle range, that is, according to the first angle, the second angle and the first When the accuracy of the motion trajectory of the first device determined by the distance is high, the motion trajectory of the first device can be determined according to the first angle, the second angle, and the first distance. Therefore, the motion trajectory obtained in two ways The accuracy is higher than that of the trajectory obtained by any of the methods.

Optionally, the processor 1010 is specifically configured to: according to x=r*cosθ, Determine the real-time coordinate information (x, y, z) of the first device; wherein, r is the first distance, θ is the first angle, is the second angle.

In the embodiment of the present application, since the real-time coordinate information (x, y, z) of the first device can be determined, the movement track of the first device can be generated based on the real-time coordinate information (x, y, z).

Optionally, in the case that the first device is a wearable device, the processor 1010 is further configured to compare the motion trajectory with a preset motion map trajectory to obtain a comparison result. The display unit 1006 is configured to output user action adjustment suggestion information according to the comparison result.

In the embodiment of the present application, since the obtained motion trajectory can be compared with the preset motion map trajectory, the user's action adjustment suggestion information can be output. Therefore, the user can determine his own deficiencies according to the action adjustment suggestion information, thereby helping the user to regulate own movement.

Optionally, the processor 1010 is further configured to acquire a second distance from the first device, to and the equipment height of the first equipment.

The display unit 1006 is configured to output successful unlocking information when the motion trajectory, the second distance, and the device height all meet a corresponding preset condition range.

The processor 1010 is also configured to perform unlocking operations.

The display unit 1006 is further configured to output unlocking failure information when at least one of the motion trajectory, the second distance, and the device height does not meet the corresponding preset condition range, the unlocking failure information Including the reason for unlock failure.

In the embodiment of the present application, the motion track, the second distance, and the height of the device can be used as factors for determining whether to unlock, since the condition for determining unlocking is that the motion track, the second distance, and the height of the device all meet the corresponding preset condition range, so , can improve the security of the smart door lock, and prevent malicious opening of the smart door lock when the first device is held by an unauthorized person.

It should be understood that, in the embodiment of the present application, the input unit 1004 may include a graphics processor (Graphics Processing Unit, GPU) 10041 and a microphone 10042, and the graphics processor 10041 is used for the image capture device ( Such as the image data of the still picture or video obtained by the camera) for processing. The display unit 1006 may include a display panel 10061, and the display panel 10061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072 . The touch panel 10071 is also called a touch screen. The touch panel 10071 may include two parts, a touch detection device and a touch controller. Other input devices 10072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, and joysticks, which will not be repeated here.

The memory 1009 can be used to store software programs as well as various data. The memory 1009 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required by at least one function (such as a sound playing function, image playback function, etc.), etc. Furthermore, memory 1009 may include volatile memory or nonvolatile memory, or, memory 1009 may include both volatile and nonvolatile memory. Wherein, the non-volatile memory can be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory (Synch link DRAM , SLDRAM) and Direct Memory Bus Random Access Memory (Direct Rambus RAM, DRRAM). The memory 1009 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

The processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to the operating system, user interface, and application programs, etc., Modem processors mainly process wireless communication signals, such as baseband processors. It can be understood that the foregoing modem processor may not be integrated into the processor 1010 .

The embodiment of the present application also provides a readable storage medium, the readable storage medium stores a program or an instruction, and when the program or instruction is executed by the processor, each process of the above-mentioned embodiment of the UWB-based motion trajectory identification method is realized, And can achieve the same technical effect, in order to avoid repetition, no more details here.

Wherein, the processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk, and the like.

The embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to realize the above-mentioned UWB-based motion trajectory recognition Each process of the method embodiment can achieve the same technical effect, and will not be repeated here to avoid repetition.

It should be understood that the chips mentioned in the embodiments of the present application may also be called system-on-chip, system-on-chip, system-on-a-chip, or system-on-a-chip.

The embodiment of the present application provides a computer program product, the program product is stored in a storage medium, and the program product is executed by at least one processor to implement the various processes in the above-mentioned embodiment of the UWB-based motion trajectory recognition method, and can achieve The same technical effects are not repeated here to avoid repetition.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on this understanding, the essence of the technical solution of this application or the part that contributes to related technologies can be embodied in the form of computer software products, which are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to enable a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present application.

The embodiments of the present application have been described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Under the inspiration of this application, without departing from the purpose of this application and the scope of protection of the claims, many forms can also be made, all of which belong to the protection of this application.

Claims

A UWB-based motion trajectory recognition method, comprising:

Obtaining the first angle, the second angle and the first distance of the first device through the UWB antenna;

Determine real-time coordinate information of the first device according to the first angle, the second angle, and the first distance, and generate motion of the first device within a preset time period based on the real-time coordinate information track;

Wherein, the first angle is the angle formed by the first line segment in the target coordinate system and the first coordinate axis, the second angle is the angle formed by the first line segment and the second coordinate axis, and the The first line segment is a line segment between the first device and the coordinate origin of the target coordinate system, and the first distance is a length of the first line segment.
The UWB-based motion trajectory identification method according to claim 1, wherein, before acquiring the first angle, the second angle and the first distance of the first device through the UWB antenna, the method further comprises:

Obtaining a third angle and a fourth angle of the first device in real time through the UWB antenna, the third angle being an angle formed between the first device and the normal of the first coordinate axis, The fourth angle is an angle formed between the first device and the normal of the second coordinate axis;

If the third angle or the fourth angle is not within the preset angle range, determine the motion track of the first device by integral operation of the acceleration of the first device;

The acquiring the first angle, the second angle and the first distance of the first device through the UWB antenna includes:

In a case where the third angle and the fourth angle are both within the preset angle range, the first angle, the second angle, and the first distance of the first device are acquired through the UWB antenna.
The UWB-based motion trajectory identification method according to claim 1, wherein said determining the real-time coordinate information of the first device according to the first angle, the second angle and the first distance comprises:

According to x=r*cosθ, determine the real-time sit of the first device Label information (x, y, z);

Wherein, r is the first distance, θ is the first angle, is the second angle.
The UWB-based motion trajectory recognition method according to any one of claims 1-3, wherein, in the case that the first device is a wearable device, the first device is generated based on the real-time coordinate information After the motion trajectory in the preset time period, the method also includes:

Comparing the motion track with the preset motion map track to obtain a comparison result;

According to the comparison result, the user's action adjustment suggestion information is output.
The UWB-based motion trajectory identification method according to any one of claims 1-3, wherein, after generating the motion trajectory of the first device within a preset time period based on the real-time coordinate information, the method Also includes:

Acquiring a second distance from the first device and a device height of the first device;

When the motion track, the second distance, and the height of the device all meet the corresponding preset condition range, output unlocking success information, and perform an unlocking operation;

If at least one of the motion trajectory, the second distance, and the device height does not meet the corresponding preset condition range, output unlock failure information, where the unlock failure information includes a reason for the unlock failure.
A UWB-based motion trajectory recognition device, comprising: an acquisition module and a processing module;

The acquiring module is configured to acquire the first angle, the second angle and the first distance of the first device through the UWB antenna;

The processing module is configured to determine the real-time coordinate information of the first device according to the first angle, the second angle and the first distance, and generate the real-time coordinate information of the first device based on the real-time coordinate information. Motion trajectory within a preset time period;

Wherein, the first angle is the angle formed by the first line segment in the target coordinate system and the first coordinate axis, the second angle is the angle formed by the first line segment and the second coordinate axis, and the The first line segment is a line segment between the first device and the coordinate origin of the target coordinate system, and the first distance is a length of the first line segment.
The UWB-based motion trajectory recognition device according to claim 6, wherein,

The acquiring module is further configured to acquire a third angle and a fourth angle of the first device in real time through the UWB antenna, the third angle being the normal line between the first device and the first coordinate axis The angle formed between, the fourth angle is the angle formed between the first device and the normal of the second coordinate axis;

The processing module is further configured to determine the acceleration of the first device by integral operation of the acceleration of the first device when the third angle or the fourth angle is not within a preset angle range. motion trajectory;

The obtaining module is specifically configured to obtain the first angle and the second angle of the first device through the UWB antenna when the third angle and the fourth angle are both within the preset angle range and first distance.
The UWB-based motion trajectory recognition device according to claim 6, wherein the processing module is specifically used for:

According to x=r*cosθ, determining real-time coordinate information (x, y, z) of the first device;

Wherein, r is the first distance, θ is the first angle, is the second angle.
The UWB-based motion trajectory recognition device according to any one of claims 6-8, wherein the device further includes an output module; when the first device is a wearable device, the processing module further It is used to compare the motion track with the preset motion map track to obtain a comparison result; the output module is used to output user action adjustment suggestion information according to the comparison result.
The UWB-based motion trajectory recognition device according to any one of claims 6-8, wherein the device further comprises an output module;

The obtaining module is further configured to obtain a second distance from the first device and a device height of the first device;

The output module is configured to output successful unlocking information when the motion trajectory, the second distance, and the device height all meet a corresponding preset condition range;

The processing module is also used to perform unlocking operations;

The output module is further configured to output unlocking failure information when at least one of the motion trajectory, the second distance, and the device height does not meet the corresponding preset condition range, and the unlocking failure The information includes the reason for the unlock failure.
An electronic device, comprising a processor and a memory, the memory stores programs or instructions that can run on the processor, and when the programs or instructions are executed by the processor, any one of claims 1-5 is implemented The described UWB-based motion trajectory recognition method.
A readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the UWB-based motion trajectory recognition method according to any one of claims 1-5 is realized.
A kind of chip, described chip comprises processor and communication interface, and described communication interface is coupled with described processor, and described processor is used for running program or order, realizes as described in any one of claim 1-5 based on UWB motion trajectory recognition method.
A computer program product, the computer program product is executed by at least one processor to implement the UWB-based motion trajectory recognition method according to any one of claims 1-5.
An electronic device configured to execute the UWB-based motion trajectory recognition method according to any one of claims 1-5.